Robotic manipulator

ABSTRACT

A controlled relative motion system comprising a base support, a manipulable support, a group of link end constrainers each having a first portion movably connected to a second portion thereof so that ends of the first and second portions can be selectively separated from one another in a selected direction so as to have a selected distance therebetween, and two groups of pivoting links. With at least four link end constrainers in the group thereof, the first group of pivoting links has corresponding links each rotatably coupled to force imparting means or to the base support so as to be rotatable about a corresponding base link axis where each of said base link axes extend into regions between adjacent ones of said first group of pivoting links into which regions said base link axes of said adjacent ones also extend, and each coupled to a first portion end of a corresponding one of the group of link end constrainers. The second group of pivoting links each rotatably coupled to the manipulable support and a corresponding one of the group of link end constrainers second end. Four or more or less numbers of link end constrainers in the group thereof are useable in the form of straps or interconnected “eye” bolts with corresponding number of pivoting links in the two groups.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a division of U. S. patent application Ser. No.09/579,903 filed May 26, 2000, entitled “Robotic Manipulator” by Mark E.Rosheim, now U.S. Pat. No. 6,418,811.

BACKGROUND OF THE INVENTION

A strong desire for increased automation in the workplace, and a desireto increase the use of animated figures depicting animals, humans orother characters in entertainment and other situations, along with anincreased ability to control such mechanical manipulators has led tosubstantial efforts in the development of robotics. As a result,significant advances have occurred in many aspects of robotics.

Perhaps the most widely used controlled component in robotic systems isa mechanical manipulator, that portion of a robot used to change theposition of orientation of selected objects engaged by that manipulator.In many instances, such mechanical manipulators are desired to havecapabilities similar to those of the human wrist or shoulder, that is,exhibiting two (or in some instances, more) degrees of freedom ofmotion.

Although a number of such mechanical manipulators have been developedwhich to a greater or lesser degree achieve some of these desirestherefor, most have been relatively complicated devices requiringcomplicated components and difficult assembly procedures or both. Many,in addition, represent compromises in having relatively limited range,or singularities within the ranges, or other limitations in performance.Thus, there is a strong desire for a mechanical manipulator which can,under control of the user, position objects anywhere over at least ahemispherical surface without any singularities in the operation of thedevice in this range, and which can be made both reliably andinexpensively.

One such mechanical manipulator meeting this desire comprises a basesupport, a pivot holder and a plurality of pivoting links. The pivotinglinks are rotatably coupled to both the base support so as to be arrayedby rotational axis radially thereabout and to members of the pivotholder to rotate about axes which extend in different directions foreach of these rotatable couplings in a link typically in accord withspecific geometrical arrangements, and in different directions fromsimilar axes in another of such links. The pivot holder is linked with asecond plurality of pivoting links to a manipulable support. Suchsystems can incorporate a variety of force imparting members to controlmovements of various ones of the pivoting links or pivot holder memberswith as few as two being required. Pivot holder members having hingedportions with one portion rotatably connected to a first pluralitypivoting link and the other portion rotatably connected to a secondplurality pivoting link provides a capability for controlling theseparation between the base and manipulable supports, but requires anactuator for each first plurality pivoting link and has its manipulablesupport positioned less precisely.

Another manipulable support meeting this desire comprises a basesupport, a pivot holder with hinged members and three pivoting links.The pivoting links are rotatably coupled to both the base support, butthis time to be arrayed by axis more or less tangentially thereabout,and to members of the pivot holder to rotate about axes which extend indifferent directions for each of these rotatable couplings in a linktypically in accord with specific geometrical arrangements, and indifferent directions from similar axes in another of such links. Thepivot holder is linked with another three pivoting links to amanipulable support. Such systems can incorporate a variety of forceimparting members to control movements of various ones of the pivotinglinks or pivot holder members with three being required.

This latter mechanical manipulator has a stronger construction than theformer in having the three pivoting links connected to the base supportwith the rotation axis for each positioned tangentially thereto ratherthan being more or less cantilevered radially therefrom. However, thereis much less vertical support provided to loads on the manipulablesupport positioned at relatively extreme angles with respect to verticalin some radial positions. Furthermore, many of the piece parts must havesurfaces that are other than perpendicular or parallel to one anotherrequiring much expensive odd angle machining. In operation, theoperation of any one actuator can not be controlled independently fromthe others because of the unavoidable coupling between the threepivoting links making control considerably more difficult. Thus, thereis a desire for a mechanical manipulator that is economical, stronglyconstructed and capable of providing relatively good vertical supportfor output loads even at extreme angular positions.

BRIEF SUMMARY OF THE INVENTION

The present invention provides a controlled relative motion systemcomprising a base support, a manipulable support, a group of link endconstrainers each having a first portion movably connected to a secondportion thereof so that ends of the first and second portions can beselectively separated from one another in a selected direction so as tohave a selected distance therebetween, and two groups of pivoting links.With at least four link end constrainers in the group thereof, the firstgroup of pivoting links has at least four links therein each rotatablycoupled to a force imparting means or to the base support so as to berotatable about a corresponding base link axis where each of said baselink axes extend into regions between adjacent ones of the first groupof pivoting links into which regions said base link axes of saidadjacent ones also extend, or both, and each coupled to a first portionend of a corresponding one of the group of link end constrainers. Thesecond group of pivoting links has at least four links therein eachrotatably coupled to the manipulable support so as to be rotatable abouta corresponding support link axis and each coupled to the second portionend of a corresponding one of the group of link end constrainers.Various kinds of force imparting members can be used connected to thefirst group of pivoting links to position the manipulable support bothin rotation and in translation as desired. These force imparting devicesmay be eliminated to provide a constant velocity rotatable, bendablejoint, or they may be replaced by shock absorbers to provide an impactmanagement device.

Four or more, or less, in number of link end constrainers in the groupthereof are useable in the form of straps or interconnected “eye” bolts.A strand, often in the form of a cable, extending through the base andmanipulable supports can be used to operate or position devices on oradjacent to the manipulable support through rotating or translating thestrand, or through translating or rotating the manipulable support, orsome combination thereof.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a perspective view of an embodiment of the presentinvention,

FIGS. 2 through 4 show various perspective views of the embodiment ofthe present invention shown in FIG. 1,

FIGS. 5, 6, 7 and 8 show perspective views of alternative embodiments ofthe present invention shown in FIG. 1,

FIG. 9 shows a perspective view of an alternative embodiment of thepresent invention,

FIGS. 10 and 11 show perspective and a partial cross section side viewof an alternative embodiment of the present invention,

FIGS. 12 through 15 show perspective, cross section and top views of analternative embodiment of the present invention,

FIGS. 16 and 17 show perspective and fragmentary views of anotheralternative embodiment of the present invention, and

FIGS. 18 and 19 show a further embodiment of the invention shown inFIGS. 12 through 17.

DETAILED DESCRIPTION

FIGS. 1, 2, 3 and 4 show a first embodiment of a mechanical manipulator,or controlled member motion system, 10, which can have a very largeoutput operating range in various configurations over which it is freeof singularities, and which is operated by various force impartingdevices directly or through various drive trains. FIG. 1 shows aperspective view of manipulator 10 with FIGS. 2, 3 and 4 showingalternative positions of the output portion of manipulator 10.Manipulator 10 is positioned on a mounting arrangement, 11, containingtherein an electric motor arrangement, unseen in these figures, whichcan rotate mounting arrangement 11 in either the clockwise orcounterclockwise direction as selected by the user to thereby carry theremainder of joint or manipulator 10 correspondingly with it in thesedirections. Alternatively, an external electric motor arrangement, againnot shown, can drive a shaft and pinion gear, 11′, which meshes with aninternal ring gear in mounting arrangement 11 to again provide for therotation of mounting arrangement 11 in either the clockwise orcounterclockwise direction as selected by the user.

Directly supported on mounting arrangement 11 is a base support, 12,shown as truncated cylindrical shell structure, 12′, fixedly supportinga symmetrical cruciform shaped spider base, 12″, though differentgeometrical shapes can be used. This symmetrical cruciform shape leadsto spider base 12″ having four spider arms extending outwardly from acentral core with one pair of arms extending in opposite directions toone another, and the remaining pair also extending in directionsopposite to one another which are also perpendicular to the directionsof extent of the first pair. On top of each of these spider arms, atapproximately the point where each begins extending outwardly from thecentral core, there is provided as part of the arm a wedge shaped stopto prevent further inward rotation of a corresponding pivoting link tobe described below.

Support 12 has an opening, 13, extending vertically in these figuresalong the axis of radial symmetry for support 12 parallel to the outercurved sides of cylindrical shell 12′ and perpendicular to thedirections of extent of the arms of spider base 12″. Opening 13 extendsthrough support 12 and from there through mounting arrangement 11 alongthe axis about which it is capable of rotating manipulator 10 so as tobe capable of permitting some desired means extend therethrough such aselectrical wiring, optical fibers or some mechanical arrangement, orsome combination thereof.

Also shown supported directly on cylindrical shell 12′ are four linearactuator support bosses, 14, each of which is shown rotatably connectedto and supporting a corresponding linear actuator. That is, four linearactuators, 15, 16, 17 and 18, are each rotatably mounted at thecorresponding base thereof, 15′, 16′, 17′ and 18′, respectively, in thecorresponding one of bosses 14 by a corresponding one of pivot pins, 19,19′, 19″ and 19′″ (with pin 19 connecting actuator 16 followed by pins19′, 19″ and 19′″ connecting actuators 17, 18 and 15, respectively)which extend perpendicularly to a radius of cylindrical shell 12′.Linear actuators have output shafts, 15″, 16″, 17″ and 18″, extendingfrom the corresponding one of bases 15′, 16′, 17′ and 18′ an amount setby the clockwise or counterclockwise rotation of threaded output shaftsof electric motors provided in those bases, not shown, with each suchthreaded shaft being engaged with a threaded inner surface wall of thecorresponding base. Wiring interconnecting these linear actuator motorswith a controller is not shown.

Output shafts 15″, 16″, 17″ and 18″ of linear actuators, 15, 16, 17 and18 are each rotatably connected to a corresponding one of a plurality ofpivoting links, 20, 20′, 20″ and 20′″, by a corresponding one of a setof pins, 21, 21′, 21″ and 21′″, respectively. Rotation by the rotor inthe electric motors in linear actuators 15, 16, 17 and 18, clockwise orcounterclockwise, causes the corresponding one of output shafts 15″,16″, 17″ and 18″ to extend or retract to rotate that one of pivotinglinks 20, 20′, 20″ and 20′″ to which it is rotatably connected. Suchrotation occurs in one or the other of the rotational angular directionsabout that corresponding one of a set of pins, 22, 22′, 22″ and 22′″,rotatably connecting these pivoting links to a corresponding one of thearms of spider base 12″.

Pins 22, 22′, 22″ and 22′″ are each positioned in and through its arm ofspider base 12″ such that the axis of rotation thereabout is orientedapproximately perpendicular to a radius extending horizontally outwardfrom the center of spider base 12″ through that arm. In addition, theaxis of rotation about each of pins 22, 22′, 22″ and 22′″ is orientedapproximately spatially parallel to the axis of rotation about that onepins 21, 21′, 21″ and 21′″ rotatably connecting the corresponding one ofoutput shafts 15″, 16″, 17″ and 18″ to the same pivoting link.

Typically, there will be used either a bearing set or a bushingarrangement between pivoting links 20, 20′, 20″ and 20′″ and each ofpins 21, 21′, 21″ and 21′″ and pins 22, 22′, 22″ and 22′″. Such bearingsets could be precision ground duplex pair bearings for a very highquality rotary coupling, or more cheaply, a lower quality needle bearingand thrust washer arrangement. Alternatively, self lubricating bronze orfiber glass bushings could be used in some situations. Anotherpossibility in some situations would be the use of steel pins withpolymeric pivoting links.

The lower plurality of pivoting links 20, 20′, 20″ and 20′″, in additionto each having an end thereof being rotatably connected to base support12 as described above, also each have the opposite end thereof rotatablyconnected by four further pins, 24, 24′, 24″ and 24′″, to acorresponding one of four individual and separate hinged pivot holders,25, 25′, 25″ and 25′″, serving as link end constrainers and which haveno direct connections therebetween. Each of these hinged pivot holdersis formed as a two extended arms hinge rotatably connected to oneanother by a corresponding one of a set of pins, 26, 26′, 26″ and 26′″,with the lower extended arm of each rotatably connected to itscorresponding one of pivoting links 20, 20′, 20″ and 20′″ by the itscorresponding one of pins 24, 24′, 24″ and 24′″. The relatively long,single column arms in each of hinged pivot holders 25, 25′, 25″ and25′″, and therefore relatively shorter lengths of the two curved columnarms of pivoting links 20, 20′, 20″ and 20′″ (and similarly of the upperplurality of pivoting links to be described below), allows the outputstructure to be described below to have greater ranges of angular motionbecause of at least reducing interference possibilities between themduring angular deployments. Other geometrical shapes could be used. Pinset 24, 24′, 24″ and 24′″, and pin set 26, 26′, 26″ and 26′″, can againbe used with bearing or bushing arrangements.

The axis of rotation of the lower arm connected to a corresponding oneof the lower plurality of pivoting links 20, 20′, 20″ and 20′″, in beingable to rotate about its one of pins 24, 24′, 24″ and 24′″, is directedso as to be more or less parallel to the length of the link and to thelength of that upper arm of the corresponding one of hinged pivotholders 25, 25′, 25″ and 25′″. The axis of rotation of each of links 20,20′, 20″ and 20′″ about a corresponding one of pins 22, 22′, 22″ and22′″, in being rotatably coupled to base support 12, and the rotationaxis of the corresponding lower arm about the pin rotatably connectingit thereto are, in each link instance, perpendicular to planes thatintersect one another at substantially right angles. These rotation axesfor each of these links and its corresponding rotatably connected lowerarm are also oriented in directions differing from those in an adjacentlink, i.e. the next link thereafter around base support 12. This allowshinged pivot holders 25, 25′, 25″ and 25′″ to be moved by thecorresponding pivoting links substantially with respect to base support12, but for the same length links these pivot holders will always be ina plane common thereto.

Manipulator 10 is shown in these figures having a further upperplurality of pivoting links. A corresponding one of this plurality isrotatably coupled to the upper arm of each of hinged pivot holders 25,25′, 25″ and 25′″ by a corresponding one of a further set of pins, 27,27′, 27″ and 27′″. The axis of rotation of the upper arm connected to acorresponding one of this upper plurality of pivoting links, in beingable to rotate about its one of pins 27, 27′, 27″ and 27′″, is directedso as to be more or less parallel to the length of the link and to thelength of that upper arm of the corresponding one of hinged pivotholders 25, 25′, 25″ and 25′″. As a result, there is a corresponding oneof a set of angles, 28, 28′, 28″ and 28′″, of a selectable angularmagnitude between the axis of rotation of the lower arm in a hingedpivot holder rotatably connected to a pivoting link from the lowerplurality thereof and the axis of rotation of the upper arm in thathinged pivot holder rotatably connected to the corresponding one of theupper plurality of pivoting links as shown in these figures, i.e.between the upper and lower arms of each hinged pivot holder. Theselection of the magnitude of each of angles 28, 28′, 28″ and 28′″ isaccomplished by the degree of extension of output shafts 15″, 16″, 17″and 18″ of linear actuators, 15, 16, 17 and 18 outward from bases 15′,16′, 17″ and 18′ thereof, and affects the capabilities of manipulator 10as will be described below.

Another set of pins, 29, 29′, 29″ and 29′″, are each used at theopposite end of a corresponding one of the above mentioned upperplurality of pivoting links, 30, 30′, 30″ and 30′″, to rotatably connectthem to an output structure. If manipulator 10 is constructedsymmetrically above and below a plane including the axes of radialsymmetry of each o f hinged pivot holders 25, 25′, 25″ and 25′″, i.e.,angles 28, 28′, 28″ and 28′″ in these figures being bisected by such acommon plane, the upper plurality of pivoting links 30, 30′, 30″ and30′″ can be identical in construction with each other and with each ofthe lower plurality of pivoting links 20, 20′, 20″ and 20′″. Althoughthis is a significant economic factor in manufacturing significantnumbers of joint or manipulator 10, this symmetry is not required forsuccessful operation of such manipulators. Also, the lengths of pivotinglinks in the upper and lower pluralities thereof need not all be thesame to have successful operation of manipulator 10 but the pattern ofthe positioning of this output structure will change depending on suchdifferences.

The output structure which is controlled in manipulator 10 by motion ofoutput shafts 15″, 16″, 17″ and 18″ of linear actuators, 15, 16, 17 and18 has a hole, 31, provided therethrough in a symmetrical cruciformshaped spider support structure, or manipulable support, 32. Again,geometrical shapes other than such a spider support structure can beused, and again various items can be extended through opening 31 such aselectrical wiring or optical fibers or, in this output situation, afurther mechanical device supported on support 32, or some combinationof such features or other alternatives. Each of pivoting links 30, 30′,30″ and 30′″ in the upper plurality thereof is rotatably coupled by acorresponding one of pins 29, 29′, 29″ and 29′″ to an arm of the spidersupport structure of manipulable support 32. Here too, each of pins 29,29′, 29″ and 29′″ is affixed to an arm of support 32 such that thecorresponding one of the plurality of upper pivoting links rotatablycoupled to manipulable support 32 thereby rotates about an axistherethrough that is oriented perpendicular to a radius extendingoutward from the center of the spider support structure of manipulablesupport 32 through that arm to which it is affixed. Although therotation axes of the pivoting links at the rotary couplings thereof tosupports 12 and 32 are described as making equal angles with adjacentones thereof as they occur about those supports, these angles need notbe identical about either support, nor identical about one support withthose about the other, to be able to position support 32 over asubstantial angular range, though providing substantially suchidentities is often convenient.

The axis of rotation of such a one of pivoting links 30, 30′, 30″ and30′″ in the upper plurality thereof about its pin coupling it to support32 extends through that pin more or less perpendicular to the directionof the length of that link, and substantially parallel to the axis ofrotation about the pin rotatably coupling the corresponding one ofpivoting links 20, 20′, 20″ and 20′″ in the lower plurality thereof tobase support 12 when manipulable support 32 is vertical. Thecorrespondence here between upper and lower plurality pivoting links isestablished by each being coupled to the same one of hinged pivotholders 25, 25′, 25″ and 25′″. Again here, as for links in the lowerplurality thereof, the axis of rotation of each of links 30, 30′, 30″ or30′″ in the upper plurality thereof about its corresponding one of pins29, 29′, 29″ or 29′″, in being rotatably coupled to a corresponding armof the spider support structure of manipulable support 32, and therotation axis of the corresponding upper arm about the one of pins 27,27′, 27″ or 27′″ rotatably connecting it thereto are, in each linkinstance, perpendicular to planes that intersect one another atsubstantially right angles.

Manipulator 10 can be changed in function from being a controlledmanipulator by making changes with respect linear actuators 15, 16, 17and 18. If they are replaced with shock absorbers, a shock impactabsorber can be made for reducing shock magnitudes upon impactingsurfaces, even surfaces of uneven topography. Such a shock absorberwould be useful, for instance, as a landing foot for a vertical flightmachine such as a landing vehicle from a spacecraft. Such an arrangementis shown in FIG. 5 which shows more or less the structure of FIG. 1inverted in position with base 11 remove, and with linear actuators 15,16, 17 and 18 now replaced with corresponding shock absorbers inconnection with which the same numerical designations have been retainedas they have for structures having the same purpose as similar purposecomponents in the joints or manipulator examples previously given.

In addition, manipulable support 32 has an impact plate, 32′, affixedthereto in opening 31. A substantial impact of impact plate 32′ on anuneven or canted surface will cause plate 32′ to rotate on the hingedmember connected lower and upper pluralities of pivoting links 20, 20′,20″ and 20′″ and 30, 30′, 30″ and 30′″, and to experience a partiallyvertical force, a force leading to forces in these connected links thatwill be at least partially absorbed in shock absorbers 15, 16, 17 and18. Such absorption will reduce the shock to whatever is chosen to besupported on support 12 during the impact.

If linear actuators 15, 16, 17 and 18 are removed altogether from thecorresponding ones of the lower plurality of pivoting links 20, 20′, 20″and 20′″ by removing corresponding screws 21 and 21′, joint ormanipulator 10 would no longer be capable of being operated to positionmanipulable support 32 at a desired position or serve as a shockabsorber. However, in these circumstances, should the rotational drivingsystem involving drive a shaft and pinion gear 11′ for rotating mountingarrangement 11 be activated, or alternatively should mountingarrangement 11 or some variant thereof or just base support 12 berotated in some other fashion, the system shown in FIGS. 1, 2 and 3 willoperate as a flexible joint with manipulable support 32 following therotation of mounting arrangement 11 and base support 12 to transmit thatrotational motion to manipulable support 32 without requiring supports12 and 32 to be axially aligned, i.e., the axis of radial symmetry ofone can be at a substantial angle with respect to the radiallysymmetrical axis of the other. A constant velocity joint performance canbe achieved with such an arrangement, an example of which is shown inFIG. 6 as joint 10′ having an output shaft, 33, affixed to manipulablesupport 32. In this figure, too, structures having the same purpose assimilar purpose components in the joints or manipulator examplespreviously given have retained the same numerical designations here aswere used in the earlier examples.

The various structural components of joint or manipulator 10 describedin connection with FIGS. 1 through 4 above are typically formed of ametal or metals, or alloys thereof, appropriate for the intended use,i.e. perhaps stainless steel for a medical use, aluminum or titaniumwhere weight is a primary concern, etc. Many or all of these componentscould molded polymeric materials instead.

If each of linear actuators 15, 16, 17 and 18 extends its correspondingoutput shaft 15″, 16″, 17″ and 18″ outwardly, each such extension willcause the lower pivoting link connected thereto to also rotate in anupward, or clockwise, direction to lift the opposite end thereofconnected to a hinged pivot holder upward away from base 11 and towardthe axis of rotational symmetry of base support 12, i.e. the verticaldirection, with the result seen in FIG. 4. In turn, the lower arm of thehinged pivot holder rotatably connected to each of these lower pivotinglinks is forced to rotate in one direction about the hinge pin thatrotatably connects it to the upper arm of that hinged pivot holder. Theaccompanying inward motion of the lower pivoting link end and theconnected lower arm of the hinged pivot holder forces the upper arm ofthat holder rotatably connected to a corresponding upper pivoting linkto rotate in an opposite direction about this hinge pin and forces thislatter link upward as the angle between the two arms increases. That is,such rotations by these linear actuators of the lower pivoting linksthat are matched both in angular extent and direction results in movingmanipulable support 32 away from base support 12 along the axis ofradial symmetry of manipulable support 32. Conversely, if the outputshafts of each of these linear actuators retracts inwardly to a matchedextent, manipulable support 32 will be moved toward base support 12along the radial axis of symmetry of that support as the angles betweenthe arms of the hinged pivot holders decrease.

On the other hand, matched output shaft extensions and retractions ofthe members of a pair of linear actuators positioned on opposite sidesof base support 12 across from one another, without movement of theoutput shafts of the other pair of linear actuators, will result intilting manipulable support 32 toward the direction of the linearactuator that is retracting which will eventually bring this supportdirectly over this retracting actuator. Adding output shaft extension tothe previously unmoving output shafts of the other pair of linearactuators will allow a significant increase in the tilt angle achievedbut can reduce extension of manipulable support 32 along its axis ofradial symmetry at some point because the hinged pivot holder connectedto the initially extending actuator output shaft reaches its rotationallimit.

Matched output shaft extensions and retractions in opposite directionsof the members of both pairs of linear actuators positioned on oppositesides of base support 12 across from one another will result in tiltingmanipulable support 32 toward a direction halfway between the linearactuators in the pairs that are retracting in a downward direction againwith limited extension of manipulable support 32 along its axis ofradial symmetry. Such retractions which are unmatched in magnitude willresult in tilting manipulable support 32 toward a direction between thelinear actuators in the pairs that are retracting that is closer to theone having the output shaft that retracts over the larger distance. Thevarious tilts described above of manipulable support 32 from thevertical will be further described below. Of course, combined tiltingmotions and extension or contraction motions of manipulable support 32along its axis of radial symmetry can be provided by suitableretractions and extensions of the output shafts of these linearactuators in selected directions and amounts.

Two views of joint or manipulator 10 of FIG. 1 are shown in FIGS. 2 and3, each view showing a different, though extreme, tilt angle achieved bymanipulable support 32. A smaller tilt angle situation for support 32,not shown, in which it is tilted to approximately 45° from the verticalextended over one of the linear actuators, allows this support to extendoutward relatively far from base support 12. This result can be achievedby having output shaft 16″ of linear actuator 16 retract the lowerpivoting link connected thereto downward while output shafts 15″, 17″and 18″ of linear actuators 15, 17 and 18 each extend to rotate the oneof lower pivoting links 20′″, 20″ and 20′ connected thereto in an upwarddirection with the greatest extension provided by output shaft 18″ oflinear actuator 18. If output shaft 18″ of linear actuator 18 extends torotate lower pivoting link 20″ to nearly a vertical position with outputshafts 15″ and 17″ of linear actuators 15 and 17 each extending thelower pivoting link connected thereto upward to a relatively smallangle, and with output shaft 16″ of linear actuator 16 retracting thelower pivoting link connected thereto downward to a relatively smallangle, manipulable support 32 will extend a modest distance outwardalong its axis of rotational symmetry at this tilt angle. If, instead,output shaft 18″ of linear actuator 18 extends to rotate lower pivotinglink 20″ to nearly a vertical position but with output shafts 15″ and17″ of linear actuators 15 and 17 each now extending the lower pivotinglink connected thereto upward to a relatively great angle, and withoutput shaft 16″ of linear actuator 16 still retracting the lowerpivoting link connected thereto downward to a relatively small angle,manipulable support 32 can achieve this same tilt angle but with muchgreater extension outward along its axis of rotational symmetry.

FIG. 2 shows manipulable support 32 rotated to something more than 90°from the vertical over linear actuator 16. This is achieved by outputshaft 18″ of linear actuator 18 extending to rotate lower pivoting link20″ to approximately a vertical position. Output shafts 15″ and 17″ oflinear actuators 15 and 17 each extend the lower pivoting link connectedthereto upward to a relatively small angle, and output shaft 16″ oflinear actuator 16 retracts the lower pivoting link connected theretodownward to a relatively small angle.

The situation in FIG. 3 has manipulable support 32 rotated to somethingmore than 90° from the vertical along a vertical plane which is orientedat about 45° from each of linear actuators 15 and 16. This result comesabout by output shafts 17″ and 18″ of linear actuators 17 and 18 havingextended to rotate lower pivoting links 20′ and 20″, respectively, toapproximately avertical position with output shafts 15″ and 16″ oflinear actuators 15 and 16 correspondingly having extended to rotatelower pivoting links 20′ and 20′″ to a below horizontal position.

Other azimuthal angle positions with respect to base support 12, alongwith selected angular deviations from vertical, can be provided formanipulable support 32 by corresponding combinations of direction andamount of rotation of each of linear actuators 15, 16, 17 and 18. Hereagain, although the separation of manipulable support 32 from basesupport 12 can be significantly increased when the axis of rotationalsymmetry of manipulable support 32 is aligned with, or at relativelysmall angles with respect to, the axis of rotational symmetry of basesupport 12, the possibility of such a separation increase between thesesupports is reduced as the tilt angle of support 32 increases from thealigned position to significantly larger angular deviation valuesbecause of the occurrence of interference between the pivoting links.

The capability of joint or manipulator 10 set out in FIGS. 1 through 4to move precisely not only over a spatial surface defined by the rangeof tilt angles available to manipulable support 32, but also angularlyover different spatial surfaces offset from one another in radialdirections with respect to base support 12 (at least at angles from thevertical not too far from the vertical) provides an instrument capableof intricate actions at its output end, that is, at manipulable support32. Uses for such an instrument might include assembling components intoan assembly, altering surfaces of materials through various kinds ofsurface geometry or texture changing activities, or performing surgicalprocedures.

Other drive systems can be used in place of linear actuators 15, 16, 17and 18. Alternatively shown in FIG. 7 are four rotary actuator supportpedestals, 34, supported directly on mounting arrangement 11. Each isshown supporting an electric motor therein along with a belt and toothedpulleys interconnection arrangement between the rotor shaft of thatelectric motor and the remaining portions of manipulator 10. That is,four electric motors, 35, 36, 37 and 38, are each mounted in thecorresponding one of pedestals 34, and each has an output shaft, orrotor, 39, on which is mounted a drive toothed pulley, 40. A tootheddrive belt, 41, is engaged therearound and around a driven toothedpulley, 42, to complete each belt and toothed pulleys interconnectionarrangement. Electric motors 35, 36, 37 and 38 each drive one of drivenpulleys 42 that is rigidly affixed to the corresponding one of lowerpivoting links 20, 20′, 20″ and 20′″ concentrically about the one ofpins 22, 22′, 22″ and 22′″ therethrough (some of the other pins shown inFIG. 7 are alternatively shown as being capped on one end).

Rotation by the rotors in electric motors 35, 36, 37 and 38, clockwiseor counterclockwise, causes drive pulleys 40 to rotate similarly. Thisrotation transmitted through the drive belt 41 thereabout to theassociated driven pulley 42 further causes its one of pivoting links 20,20′, 20″ and 20′″ to in turn rotate one way or the other about thecorresponding one of pins 22, 22′, 22″ and 22′″.

A further configurational alternative for joint or manipulator 10 isshown in FIG. 8 by the substitution of a motor driven, gear based drivetrain for directing motion of the pivoting links in the lower pluralitythereof through the direct connection of electric motors 35, 36, 37 and38 to these links for that purpose. This is accomplished by eliminatingbelts 41 and replacing pulley pairs 40 and 42 by a spur gear and spurgear sector pair, 40′ and 42′ of FIG. 7. (In each of these figures,structures having the same purpose as similar purpose components in thejoints or manipulator examples previously given have retained the samenumerical designations here as were used in the earlier examples.) Eachof drive spur gears 40′ is on a corresponding one of rotors 39, and eachof spur gear sectors 42′ is affixed to a corresponding one of theplurality of lower pivoting links concentrically about the one of 22,22′, 22″ and 22′″ therethrough (here too, some of the other pins areshown having′ an end with a cap). Again, rotation of the rotors 39causes, through a gear 40′ and gear sector 42″ pair, rotation of thecorresponding one of the lower pivoting links.

There are other possibilities for link end constrainers beyond hingedpivot holders 25, 25′, 25″ and 25′″ for rotatably connecting each memberof the lower plurality of pivoting links 20, 20′, 20″ and 20′″ to acorresponding member of the upper plurality of pivoting links 30, 30′,30″ and 30′″. Pin set 26, 26′, 26″ and 26′″ can be eliminated by the useof interconnected stemmed ring pairs, 43, 43′, 43″ and 43′″, much likeclosed′ eye″ bolts, in place of hinged pivot holders 25, 25′, 25″ and25′″ as shown in manipulator 10″ of FIG. 9, where again structureshaving the same purpose as similar purpose components in the joints ormanipulator examples previously given have retained the same numericaldesignations.

Each interconnected stemmed ring pair has one of its ends opposite theinterconnected rings fixedly inserted in a corresponding one of thelower plurality of pivoting links 20, 20′, 20″ and 20′″ and the other,opposite end fixedly inserted in a corresponding one of the upperplurality of pivoting links 30, 30′, 30″ and 30′″ to thereby rotatablyjoin those lower and upper links. The interconnected rings, having thering portion of the one extending through the ring or “eye” opening ofthe other, move with respect to one another much as if they were hingedtogether and rotatably connected to the corresponding ones of thesecoupled links. That is, the ring portion of the one extending throughthe “eye” opening of the other can “rotate” in that opening about aportion of the ring of the other extending through its own “eye”opening, and vice verse, to thereby allow one ring to move more or lessin pitch and yaw motions with respect to support 12, and so to rotationof one with respect to the other about two different axes. In addition,some twisting motion of one ring with respect to the other can occurabout a further and different axis to provide the needed added degree offreedom to allow achieving the desired manipulations of manipulablesupport 32. Such an arrangement can be made relatively cheaply andrugged.

As further alternative is shown in FIG. 10 where straps, 44, 44′, 44″and 44′″, such as cables or wires, are solely used as the “hinged”members in place of hinged pivot holders 25, 25′, 25″ and 25′″ informing link end constrainers to rotatably connect each member of thelower plurality of pivoting links 20, 20′, 20″ and 20′″ to acorresponding member of the upper plurality of pivoting links 30, 30′,30″ and 30′″ in manipulator 10′″. The pitch and yaw motions, and thetwisting motions, required of hinged pivot holders 25, 25′, 25″ and 25′″so that each member of the upper plurality of pivoting links 30, 30′,30″ and 30′″ can suitably move with respect to the corresponding memberof the lower plurality of pivoting links 20, 20′, 20″ and 20′″ tothereby permit manipulation of manipulable support 32 are all allowed byuse of cables 44, 44′, 44″ and 44′″.

FIG. 11 shows both a partial cut away view and a partial cross sectionview of manipulator 10′″ of FIG. 10. (As before, in these figures,structures having the same purpose as similar purpose components in thejoints or manipulator examples previously given have retained the samenumerical designations here as were used in the various earlierexamples.) As can be seen there, each of cables 44, 44′, 44″ and 44′″, acable anchor is fastened to each end of each of these cables bycrimping, soldering, welding, adhering or other suitable means. Each ofthe lower plurality of pivoting links 20, 20′, 20″ and 20′″ and each ofthe upper plurality of pivoting links 30, 30′, 30″ and 30′″ are providedin halves held together by some fastening means shown here to be a capscrew fitted through an opening in one half into a threaded opening inthe other to fasten these halves together. Removing these cap screwsallows these halves to be separated to accept the corresponding one ofcables 44, 44′, 44″ and 44′″ and its anchors therein, the halves beingreassembled thereafter and fastened together again by the cap screws.

The use of cables to connect corresponding members of the lowerplurality of pivoting links 20, 20′, 20″ and 20′″ and the upperplurality of pivoting links 30, 30′, 30″ and 30′″ to allow pitch, yawand twisting motions therebetween can be combined with molded plasticand “living hinges” to provide smaller, cheaper versions of manipulator10′″. In a so called “living hinge”, the two sides of the hinge are eachintegral with one of the two corresponding structural members beinghinged together to accomplish the affixing of the hinge sides thereto,and the hinge pin is provided by a thinned portion of the materialforming the hinge being continuously extended between these twocorresponding structural members of thicker material rather than by aseparate pinjoining such members. A manipulator 10 ^(iv) versionembodying such “living hinge” structures is shown in FIGS. 12, FIG. 12being a perspective view. In these figures, structures having the samepurpose as similar purpose components in the joints or manipulatorexamples previously given have retained the same numerical designationshere as were used in the earlier examples. This is so even though thereare significant structural differences in the structural members used inFIG. 12 as compared to similar purpose components used in the earlierexamples because of the use of “living hinges” in the system of thisfigure in place of the pins or pivot screws used in the earlierexamples.

Thus, output shaft 15″ extending from linear actuator 15, not shown inFIG. 12 (having an opposite end thereof mounted on a mountingarrangement also not shown in this figure), is used to rotate pivotinglink 20′″ about “living hinge” 22′″ that connects that pivoting link tobase 12″. In the same manner, output shaft 16″ extending from linearactuator 16, not seen in this figure, is used to rotate pivoting link 20about “living hinge” 22 connecting it to base 12″. Again, output shaft17″ extending from linear actuator 17, not seen in this figure, is usedto rotate pivoting link 20′ about “living hinge” 22′ connecting it tobase 12″. Finally, output shaft 18″ (shown in dashed line form behindlower pivoting link 20″) extending from linear actuator 18, not seen inthis figure, is used to rotate pivoting link 20″ about “living hinge”22″ connecting it to base 12″. These “living hinges” replacecorresponding pins 22′″, 22, 22′ and 22″ in previous examples.

Similarly, pivoting link 30′″ rotates about “living hinge” 29′″ thatconnects that pivoting link to manipulable support 32, pivoting link 30rotates about “living hinge” 29 that connects that pivoting link tosupport 32, pivoting link 30″ rotates about “living hinge” 29′ thatconnects that pivoting link to support 32, and pivoting link 30″ rotatesabout “living hinge” 29″ that connects that pivoting link to support 32.These “living hinges” replace corresponding pins 29′″, 29, 29′ and 29″in previous examples

Pivoting link 20′″ is connected by cable 44′″ to pivoting link 30′″which in turn rotates about “living hinge” 29′″ that connects thatpivoting link to manipulable support 32. Similarly, pivoting link 20 isconnected by cable 44 to pivoting link 30 which in turn rotates about“living hinge” 29 that connects that pivoting link to manipulablesupport 32. Also in this manner, pivoting link 20′ is connected by cable44′ to pivoting link 30′ which in turn rotates about “living hinge” 29′that connects that pivoting link to manipulable support 32. Lastly,pivoting link 20″ is connected by cable 44″ to pivoting link 30″ whichin turn rotates about “living hinge” 29″ that connects that pivotinglink to manipulable support 32.

As can be seen, pivoting links 20, 20′, 20″ and 20′″ in the lowerplurality thereof are each formed of a structural polymer or a metal ina triangular shape when viewed from the′ top″ thereof with the trianglebase occurring at the “living hinge” between the link and base 12″commonly formed therewith. The link sides extend toward the oppositetriangle apex that occurs where the corresponding cable emergestherefrom. In a “side” view, these same links are seen as extended wedgeshapes with the thickest wedge portion formed at the “living hinge” partthereof, and with the link tapering in thickness from there to the pointwhere the cable emerges therefrom. Pivoting links 30, 30′, 30″ and 30′″in the upper plurality thereof are provided in the same manner withmanipulable support 32. A cross section view of pivoting link 30′″ isshown in FIG. 13 as an example of the cross section of both upperpivoting links 30, 30′, 30″ and 30′″ and lower pivoting links 20, 20′,20″ and 20′″.

Hinged pivot holders 25, 25′, 25″ and 25′″ are again provided as cables44, 44′, 44″ and 44′″ as in FIGS. 10 and 11, as indicated above, to formthe couplings between the corresponding lower and upper link connectionsin FIG. 12 but in a different manner to be described below. Base 12″ andmanipulable support 32 are each provided as approximately square blockswith central openings 13 and 31, respectively, by ending these blocksinteriorly in truncated cylindrical shell portions about those openings.

The resulting structure in FIG. 12 for manipulator 10 ^(iv) can be usedto position manipulable support 32 therein anywhere over a wide angularrange by forcing pivoting links 20, 20′, 20″ and 20′″ to selectedrotational positions about the corresponding portion of base 12″ towhich they are rotatably coupled by “living hinges” 22, 22′, 22″ and22′″, respectively. The performance of such a manipulator 10 ^(iv) canbe made quite repeatable if the structural members, especially the“living hinges” used therein, are carefully made with materialsexhibiting the same properties from batch to batch as well as carefullymaintaining essentially identical dimensions from batch to batch in eachunit made such as by use of precise laser cutting techniques. Inaddition, joint or manipulator 10 ^(iv) can be made exceedingly small byusing these methods.

FIG. 12 also shows in addition the use of an operating strand, 46, oftenchosen to be a metal cable, extending through a tubular opening insupport 12 merging into opening 13 in base 12′, through a tubularopening in a separator sleeve arrangement, 47, and finally throughopening 31 in manipulable support 32. Separator sleeve arrangement 47has bulbous ends about the tubular opening extending therethrough toprevent those ends from passing through the corresponding one ofopenings 13 and 31 to result in sleeve arrangement being a manipulator10 ^(iv) compression limiter setting a minimum distance between base 12″and manipulable support 32. Operating strand 46 is provided to operatesome device connected to the end thereof extending past manipulablesupport 32, or alternatively is provided to be a conductive metalelectrical interconnection lead for positioning, emplacing or mountingin or on a desired object or base.

FIG. 14 shows another “living hinge” version with cables 44, 44′, 44″and 44′″ of FIGS. 10, 11 and 12 being provided by a single cable, 48,molded into the structural polymer material forming upper pivoting links30, 30′, 30″ and 30′″, lower pivoting links 20, 20′, 20″ and 20′″, base12″ and manipulable support 32. In a typical arrangement, a “one shot”multicavity mold is provided have closed loop cable 48 appropriatelysuspended therein for injection molding of a “living hinge” manipulator10 ^(iv) into which a structural polymer is injected such aspolypropylene which may also have fibers distributed therein forstrength such as fiber glass.

After such a fabrication molding, cable 48 can be seen in FIG. 14 toextend the length of upper pivoting link 30 from where it enters at thetriangular apex from lower pivoting link 20 directly therebelow tobisect “living hinge” 29 and enter manipulable support 32. From therecable 48 extends across the corner of that manipulable support to thecenter of “living hinge” 29′″ to then extend through upper pivoting link30′″ to the triangular apex thereof where it emerges to enter lowerpivoting link 20′″ directly therebelow at its triangular apex. Cable 48then extends through link 20′″ to bisect living hinge 22′41 not seen inthis figure) and enter base 12″ to extend across the corner thereof tothe center of “living hinge” 22″ (again not seen in this figure). Cable48 then extends through lower pivoting link 20′ to the triangular apexthereof (once more not seen in this figure) where it emerges to enterupper pivoting link 30″ at its triangular apex. Cable 48 then follows apath through upper pivoting link 30″, “living hinge” 29″, manipulablesupport 32, “living hinge” 29′, upper pivoting link 30′, lower pivotinglink 20′, “living hinge” 22′, base 12″, “living hinge” 22 and lowerpivoting link 20 to reach the triangular apex thereof and emerge toenter the triangular apex of link 30 on a path that mirrors the firsthalf path described previously.

As indicated in FIG. 14, a broken section view of manipulator 10 ^(iv)of that figure is shown in FIG. 15. The section view in FIG. 14 is takenin line with “living hinge” 29 but is broken to be parallely crossingmanipulable support 32 in the center thereof through strand 46. Cable 48can be seen where positioned in base 12″ and manipulable support 32 atthe cross section.

In some situations, a more economical version of manipulator 10 ^(iv)can be provided by eliminating cable 48 from the structure andsubstituting in place thereof, at the locations where upper pivotinglinks 30, 30′, 30″ and 30′″ were coupled to lower pivoting links 20,20′, 20″ and 20′″ thereby, further “living hinges” molded with thestructural polymer material forming them. Again, polypropylene (possiblyhaving distributed fibers therein) is typically used as the structuralpolymer and is injected into a multicavity mold this manipulator. Suchan arrangement is shown for manipulator 10 ^(iv) in the perspective viewof FIG. 16 and the fragmentary view of FIG. 17.

These further “living hinges”, 49, 49′, 49″ and 49′″, as the strapsjoining the triangular apexes of each corresponding pair of upper andlower pivoting links cannot be formed as a relatively wide, flatsheet-like portion of thinned polymer material, as are the “livinghinges” replacing pins 22, 22′, 22″ and 22′″ and pins 29, 29′, 29″ and29′″ described above. They must instead be more cable-like in form, asis shown in FIG. 17, to allow rotational motion in two differentdirections and sufficient twisting motion. Furthermore, the diameter orgirth of these straps, and the nature of any filler distributed in thestructural polymer must all be chosen to provided sufficient strengthand durability for operation, but at the same time sufficientflexibility to allow easy execution of these motions.

The use of a multicavity mold to form this version of manipulator 10^(iv) in a single injection step without first having to suspend a cablein the mold reduces molding costs. If sufficiently cheap to manufacture,this version of manipulator 10 ^(iv) can be a one time, or few times,use device making it especially suitable for medical procedures. Ofcourse, the cost of the version shown in FIG. 12 may also besufficiently low in many instances for the same sort of uses.

FIGS. 18 and 19 show an arrangement for using one of the versions ofmanipulator 10 ^(iv) for attaching an electrical interconnection lead toa biological object such as a human heart for purposes of connecting aheart pacemaker thereto. FIG. 18 shows a right angle support plate, 50,supporting on its horizontal portion a housing, 51, both in dashed lineform to avoid obscuring other structures present. Housing 51 has thereinlinear actuators 15, 16, 17 and 18 therein mounted on base support 12.The upright portion of plate 50 has a hole therein to accommodate alinear actuator output shaft length extender, 52. Extender 42 has fiveopenings through the length thereof four of which have extended versionsof output shafts 15′, 16′, 17′ and 18′ in the form of flexible, thoughstiff, wires positioned therein. The fifth long opening through extender52 is occupied by strand, or interconnection lead, 46.

An extender sleeve, 53, connects the opposite end of extender 52 tomanipulator 10 ^(iv) at base 12″. Wire output shafts 15′, 16′, 17′ and18′ are connected to lower pivoting links 20′″, 20, 20′ and 20″,respectively, as before, through extender sleeve 53 limiting lateralmotion thereof so that the wire shafts transmits all back and forthmotion thereof at the opposite ends to these links. Extender sleeve 53is omitted in the more detailed view of manipulator 10 ^(iv) in FIG. 19for clarity.

Strand 46 extends through support 12, base 12″ and manipulable support32, and then through a square, relatively thin, stop, 54, before endingin a short helix, 55, with a sharpened lead point. Strand 46 can berotated and translated along with the translation of manipulable support32 by the linear actuators to screw helix 55 into the selectedbiological tissue. Alternatively, the whole of housing 51 and supportplate 50 can be rotated and translated along with the translation ofmanipulable support 32 by the linear actuators to screw helix 55 intosuch selected biological tissue. This latter process requires that stop54 be seated in the corresponding square opening in manipulable support32 seen in FIG. 19 so that the rotating of manipulator 10 ^(iv) forcesstop 54, and so helix 55, to also rotate with the rotation of supportplate 50, housing 51 and extender 52.

Although the present invention has been described with reference topreferred embodiments, workers skilled in the art will recognize thatchanges may be made in form and detail without departing from the spiritand scope of the invention.

What is claimed is:
 1. A controlled relative motion system permitting acontrolled motion member, joined to another base member, to selectivelymove with respect to that base member, said system comprising: a basesupport; a manipulable support; a plurality of link end constrainerseach provided as a connecting strap so that each has a first portionmovably connected to a second portion thereof so that ends of said firstand second portions can be variably positioned with respect to oneanother; a first plurality of pivoting links at least one of which isrotatably coupled to said base support so as to be rotatable about acorresponding base link axis and each coupled to a said first portionend of a corresponding one of said plurality of link end constrainers;and a second plurality of pivoting links each rotatably coupled to saidmanipulable support so as to be rotatable about a corresponding supportlink axis and each coupled to a said second portion end of acorresponding one of said plurality of link end constrainers.
 2. Theapparatus of claim 1 further comprising a first plurality of forceimparting members each coupled to a said pivoting link in said firstgroup thereof so as to be able to cause at least one of those saidpivoting links in said first group thereof to rotate about itscorresponding said base link axis, and wherein at least one of saidfirst plurality of force imparting members provides a linear motiveforce.
 3. The apparatus of claim 1 wherein said base support is held bya mounting arrangement.
 4. The apparatus of claim 1 wherein each of saidfirst plurality of pivoting links is rotatably coupled to said basesupport so as to be rotatable about a corresponding base link axis, andeach of said base link axes extend tangentially along a circularcircumference of a corresponding circle centered in said base support,and each said base link axis being tangent to that said circle at apoint separated from another such point adjacent thereto by an anglesubstantially equal to 360° divided by that total number of saidpivoting links in said first group of pivoting links.
 5. The apparatusof claim 1 wherein each of said first group of pivoting links coupled tosaid base support is rotatably coupled to said base support through useof a hinge supported both by said base support and that said pivotinglink.
 6. The apparatus of claim 1 wherein each of said plurality of linkend constrainer straps is formed at least in part by a reducedgeometrical extent portion of that said material extending between eachsaid pivoting link in said first plurality thereof and its correspondingsaid pivoting link in said second plurality thereof.
 7. The apparatus ofclaim 2 wherein each of said pivoting links in said first group thereofhas coupled thereto a corresponding one of said first plurality of forceimparting members.
 8. The apparatus of claim 3 wherein said mountingarrangement comprises a base housing, said base housing comprising aplurality of force imparting members mounted therein each connected to acorresponding one of said first group of pivoting links.
 9. Theapparatus of claim 4 wherein each of said base link axes extend intoregions between adjacent ones of said first group of pivoting links intowhich regions said base link axes of said adjacent ones also extend. 10.The apparatus of claim 5 wherein both said base support and said firstgroup of pivoting links are formed from, and joined together by, acommon material, and said hinge is formed at least in part by a thinnedportion of that said material extending between said base support andeach said pivoting link in said first group thereof.
 11. The apparatusof claim 8 wherein said mounting arrangement further comprises anoperating strand extending through said base and manipulable supportsand a strand motive means capable of rotating said strand with respectto said manipulable support.
 12. The apparatus of claim 8 wherein saidmounting arrangement further comprises an operating strand extendingthrough said base and manipulable supports and a strand motive meanscapable of translating said strand with respect to said manipulablesupport.
 13. The apparatus of claim 10 wherein each of said plurality oflink end constrainer straps is formed at least in part by a reducedgeometrical extent portion of that said material extending between eachsaid pivoting link in said first plurality thereof and its correspondingsaid pivoting link in said second plurality thereof.
 14. The apparatusof claim 11 wherein said strand has a sleeve thereabout between saidbase and manipulable supports.
 15. The apparatus of claim 12 whereinsaid strand has a sleeve thereabout between said base and manipulablesupports.
 16. A controlled relative motion system permitting acontrolled motion member, joined to another base member, to selectivelymove with respect to that base member, said system comprising: a basesupport; a manipulable support; a plurality of link end constrainerseach having a first portion movably connected to a second portionthereof with said first and second portions thereof each provided as astemmed ring closed about a ring opening with these rings passingthrough each other's ring opening, and with these stems providing endsof said first and second portions that can be variably positioned withrespect to one another; a first plurality of pivoting links at least oneof which is rotatably coupled to said base support so as to be rotatableabout a corresponding base link axis and each coupled to a said firstportion end of a corresponding one of said plurality of link endconstrainers; and a second plurality of pivoting links each rotatablycoupled to said manipulable support so as to be rotatable about acorresponding support link axis and each coupled to a said secondportion end of a corresponding one of said plurality of link endconstrainers.
 17. The apparatus of claim 16 further comprising a firstplurality of force imparting members each coupled to a said pivotinglink in said first group thereof so as to be able to cause at least oneof those said pivoting links in said first group thereof to rotate aboutits corresponding said base link axis, and wherein at least one of saidfirst plurality of force imparting members provides a linear motiveforce.
 18. The apparatus of claim 16 wherein each of said firstplurality of pivoting links is rotatably coupled to said base support soas to be rotatable about a corresponding base link axis, and each ofsaid base link axes extend tangentially along a circular circumferenceof a corresponding circle centered in said base support, and each saidbase link axis being tangent to that said circle at a point separatedfrom another such point adjacent thereto by an angle substantially equalto 360° divided by that total number of said pivoting links in saidfirst group of pivoting links.
 19. The apparatus of claim 16 whereineach of said first group of pivoting links coupled to said base supportis rotatably coupled to said base support through use of a hingesupported both by said base support and that said pivoting link.
 20. Theapparatus of claim 17 wherein each of said pivoting links in said firstgroup thereof has coupled thereto a corresponding one of said firstplurality of force imparting members.
 21. A controlled relative motionsystem permitting a controlled motion member, joined to another basemember, to selectively move with respect to that base member, saidsystem comprising: a base support; a manipulable support; a plurality offorce imparting means coupled to said base support; a plurality of linkend constrainers each provided as a connecting strap so that each has afirst portion movably connected to a second portion thereof so that endsof said first and second portions can be variably positioned withrespect to one another; a first plurality of pivoting links at least oneof which is rotatably coupled to a corresponding said force impartingmeans that can impart force thereto so as to be rotatable about acorresponding base link axis and each coupled to a said first portionend of a corresponding one of said plurality of link end constrainers;and a second plurality of pivoting links each rotatably coupled to saidmanipulable support so as to be rotatable about a corresponding supportlink axis and each coupled to a said second portion end of acorresponding one of said plurality of link end constrainers.
 22. Theapparatus of claim 21 wherein each of said first plurality of saidpivoting links coupled to said base support is rotatably coupled to saidbase support through use of a pin extending in said base support andthat said pivoting link and about which rotation can occur by at leastone of said base support and that said pivoting link.
 23. The apparatusof claim 21 wherein said base support is held by a mounting arrangement.24. The apparatus of claim 21 wherein each of said first plurality ofpivoting links is rotatably coupled to said first portion of acorresponding one of said plurality of link end constrainers, each ofsaid pivoting links in said first plurality thereof is coupled to saidbase support so as to be rotatable about a corresponding base link axis,and each said base link axis being tangent to that said circle at apoint separated from another such point adjacent thereto by an anglesubstantially equal to 360° divided by that total number of saidpivoting links in said first group of pivoting links.
 25. The apparatusof claim 21 wherein each of said first plurality of pivoting linkscoupled to said base support is rotatably coupled to said base supportthrough use of a hinge supported both by said base support and that saidpivoting link.
 26. The apparatus of claim 21 wherein each of saidplurality of link end constrainer straps is formed at least in part by areduced geometrical extent portion of that said material extendingbetween each said pivoting link in said first plurality thereof and itscorresponding said pivoting link in said second plurality thereof. 27.The apparatus of claim 23 wherein said mounting arrangement comprises abase housing, said base housing comprising a plurality of forceimparting members mounted therein each connected to a corresponding oneof said first group of pivoting links.
 28. The apparatus of claim 25wherein both said base support and said first group of pivoting linksare formed from, and joined together by, a common material, and saidhinge is formed at least in part by a thinned portion of that saidmaterial extending between said base support and each said pivoting linkin said first plurality thereof.
 29. The apparatus of claim 27 whereinsaid mounting arrangement further comprises an operating strandextending through said base and manipulable supports and a strand motivemeans capable of rotating said strand with respect to said manipulablesupport.
 30. The apparatus of claim 27 wherein said mounting arrangementfurther comprises an operating strand extending through said base andmanipulable supports and a strand motive means capable of translatingsaid strand with respect to said manipulable support.
 31. The apparatusof claim 28 wherein each of said plurality of link end constrainerstraps is formed at least in part by a reduced geometrical extentportion of that said material extending between each said pivoting linkin said first plurality thereof and its corresponding said pivoting linkin said second plurality thereof.
 32. The apparatus of claim 29 whereinsaid strand has a sleeve thereabout between said base and manipulablesupports.
 33. The apparatus of claim 30 wherein said strand has a sleevethereabout between said base and manipulable supports.
 34. A controlledrelative motion system permitting a controlled motion member, joined toanother base member, to selectively move with respect to that basemember, said system comprising: a base support; a manipulable support; aplurality of force imparting means coupled to said base support; aplurality of link end constrainers each having a first portion movablyconnected to a second portion thereof with said first and secondportions thereof each provided as a stemmed ring closed about a ringopening with these rings passing through each other's ring opening, andwith these stems providing ends of said first and second portions thatcan be variably positioned with respect to one another; a firstplurality of pivoting links at least one of which is rotatably coupledto a corresponding said force imparting means that can impart forcethereto so as to be rotatable about a corresponding base link axis andeach coupled to a said first portion end of a corresponding one of saidplurality of link end constrainers; and a second plurality of pivotinglinks each rotatably coupled to said manipulable support so as to berotatable about a corresponding support link axis and each coupled to asaid second portion end of a corresponding one of said plurality of linkend constrainers.
 35. The apparatus of claim 34 wherein each of saidfirst plurality of said pivoting links coupled to said base support isrotatably coupled to said base support through use of a pin extending insaid base support and that said pivoting link and about which rotationcan occur by at least one of said base support and that said pivotinglink.
 36. The apparatus of claim 34 wherein each of said first pluralityof pivoting links is rotatably coupled to said first portion of acorresponding one of said plurality of link end constrainers, each ofsaid pivoting links in said first plurality thereof is coupled to saidbase support so as to be rotatable about a corresponding base link axis,and each said base link axis being tangent to that said circle at apoint separated from another such point adjacent thereto by an anglesubstantially equal to 360° divided by that total number of saidpivoting links in said first group of pivoting links.
 37. The apparatusof claim 34 wherein each of said first plurality of pivoting linkscoupled to said base support is rotatably coupled to said base supportthrough use of a hinge supported both by said base support and that saidpivoting link.